Device for manipulating at least one specimen slide

ABSTRACT

A device for manipulating at least one specimen slide includes a first sensor unit operable to sense a first rotation of a first component of the device about at least one first axis of a three-dimensional coordinate system. A second sensor unit is operable to sense a second rotation of a second component of the device about the at least one first axis of the coordinate system, the coordinate system being independent of a position of the first component and of a position of the second component. A positioning unit is operable to position the second component relative to the first component.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a divisional application of U.S. patent applicationSer. No. 12/559,972, filed Feb. 3, 2005, which hereby is incorporated byreference herein, and which claims priority to German Patent ApplicationNo. DE 10 2008 047 575.0, filed Sep. 17, 2008, which is herebyincorporated by reference herein.

FIELD

The invention relates to a device for manipulating at least one specimenslide, in which, for reliable function, two components of the device arebe arranged in a correct position relative to one another.

BACKGROUND

Especially in the context of devices for manipulating specimen slidesthat automatically carry out working steps when handling a specimenslide, it is often necessary for components of the respective device tobe correctly oriented with respect to one another. Such componentscontact the specimen slide directly and/or contact the samples to bebrought into contact with the specimen slide or further elements to bebrought into contact with the specimen slide. For correct positioning ofthe specimen slide and/or of the sample or the further elements, thecomponents of the device should be correctly oriented with respect toone another. Such devices for manipulating specimen slides include, inparticular, a unit for automatically applying a biological sample onto aspecimen slide, a unit for automatically cleaning a biological sample, aunit for automatically staining a biological sample arranged on thespecimen slide, and/or a unit for automatically covering a biologicalspecimen, arranged on the specimen slide, with a coverslipping agentand/or a coverslip.

DE 101 44 048 A1 describes an apparatus for manipulating specimen slidesand coverslips. In this, a coverslip is picked up with the aid of apickup unit guided via an actuation arm, and is placed onto a desiredposition on the specimen slide. Automatic apparatuses of this kind forthe application of coverslips onto specimen slides are also referred toas “coverslippers.” The coverslips serve in this context to cover aprepared specimen present on a specimen slide. A prepared specimen ofthis kind is preferably a biological sample, such as a histologicalsection. The coverslips are thin, preferably having a thickness ofapprox. 0.17 mm, and are made available in a stack. In order to pick upa coverslip from the stack, the pickup unit must therefore be exactlypositioned with respect to the stack in order to pick up the topmostcoverslip of the stack. In the same fashion, upon placement of thecoverslip onto the specimen slide, the coverslip or the pickup unithaving the coverslip must be exactly positioned with respect to thespecimen slide. If deviations occur during positioning of the coverslipand the pickup unit, the risk exists that the glass of the coverslipand/or of the specimen slide may break.

DE 10 2005 020 426 A1 describes a coverslipping machine for applyingcoverslipping agent and a coverslip onto a specimen slide. Here, inparticular, the means for picking up and positioning the coverslip onthe specimen slide must be oriented exactly with respect to a holder ofthe specimen slide so that exact positioning of the coverslip can becarried out, and furthermore in order to avoid damage to or destructionof the coverslip.

In coverslipping machines, it is usual to orient the basic device itselfin three dimensions with the aid of auxiliary means for leveling a baseframe of the basic device, and additionally to orient an actuationelement positionable with respect to the base frame, or a holdingelement for the actuation element, relative to the base frame, so thatthese elements are likewise oriented exactly in three dimensions withreference to a horizontal plane. The actuation arm, or a mount for theactuation arm, is usually connected to the base frame, and auxiliaryalignment means can be provided in order to orient the actuation armrelative to the base frame of the coverslipping machine.

Problems similar to those with the coverslipping machine also occur withother devices for manipulating specimen slides with which preferablyautomatic preparation of a sample for microscopic investigation iscarried out.

SUMMARY

An aspect of the present invention is to provide a device formanipulating at least one specimen slide in which correct positioning oftwo components of the device relative to one another is possible inrelatively simple fashion.

In an embodiment, the present invention provides a device formanipulating at least one specimen slide. The device includes a firstsensor unit operable to sense a first rotation of a first component ofthe device about at least one first axis of a three-dimensionalcoordinate system. A second sensor unit is operable to sense a secondrotation of a second component of the device about the at least onefirst axis of the coordinate system, the coordinate system beingindependent of a position of the first component and of a position ofthe second component. A positioning unit is operable to position thesecond component relative to the first component.

BRIEF DESCRIPTION OF THE DRAWINGS

Exemplary embodiments of the present invention are described in thefollowing with reference to the drawings, in which:

FIG. 1 is a side view of an arrangement of components of a device forcovering specimen slides with a coverslip, in accordance with anembodiment of the invention, in a rest position;

FIG. 2 is a side view of the arrangement according to FIG. 1 in a firstoperating position;

FIG. 3 is a side view of the arrangement according to FIGS. 1 and 2 in asecond operating position;

FIG. 4 is a side view of the arrangement according to FIGS. 1 to 3 in athird operating position;

FIG. 5 is a perspective view of an arrangement of a base module and anactuation arm of a device for manipulating specimen slides, inaccordance with another embodiment of the invention;

FIG. 6 is a three-dimensional schematic view of a coverslipping machinehaving an arrangement according to FIG. 5, in accordance with anotherembodiment of the invention.

DETAILED DESCRIPTION

By means of the sensor units, at least one respective rotation of acomponent of the device about a first axis of the coordinate system isascertained. Based on the rotation thereby ascertained about an axis ofa coordinate system that is independent of the position of thecomponents of the device, a difference in the rotation of the componentsabout said axis can also be ascertained, and from that difference acorrection value is determined which is then taken into account by thepositioning unit for positioning of the second component, or is used asan initial variable for positioning of the second component relative tothe first component. Alternatively, the positioning unit can be actuatedmanually, the ascertained deviation or the ascertained correction valueserving as an indication of the correction to be brought about by manualpositioning. A correction value can be repeatedly determined andoutputted in this context, in order to carry out stepwise positioning ofthe second component with respect to the first component into a desiredrelative rest position of the second component relative to the firstcomponent. The coordinate system that is independent of the position ofthe components of the device is also referred to as a three-dimensionalcoordinate system and can be, for example, a world coordinate system ora base coordinate system.

In one embodiment, the positioning unit may include at least one driveunit and at least one control unit. The control unit applies control tothe drive unit in such a way that the drive unit positions the secondcomponent as a function of the rotation, sensed with the aid of thefirst sensor unit, of the first component about the first axis, and as afunction of the second rotation, sensed with the aid of the secondsensor unit, of the second component about the first axis, in such a waythat during operation of the device, the first component selectably hasa first target position or a second target position relative to thesecond component. The target position refers at least to the differencebetween the rotation of the first component about the first axis and therotation of the second component about the first axis. In oneembodiment, the drive unit may include at least one stepping motorand/or at least one linear motor.

In particular, the first component can include a base module of thedevice. The base module has a pickup unit for picking up at least onespecimen slide and/or at least one cassette having multiple specimenslides. The specimen slide and/or specimen slides of the cassette have,as a result of pickup, a position relative to the base module that isdefined by the base module. The second component encompasses anactuation element, movable relative to the base module, of the device.The actuation element is movable relative to the base module with theaid of a drive unit. With the aid of such an arrangement, the actuationelement can be oriented and positioned correctly with respect to thebase module so that the element can perform a desired movement withreference to the specimen slide. The actuation element can serve inparticular to pick up the specimen slide or to apply samples,substances, and/or elements onto the specimen slide.

In one embodiment, the device has a third sensor unit that senses arotation of a second actuation element, movable relative to the basemodule of the device about the at least one axis of the coordinatesystem. As a result, the relative rotation of the first actuationelement and of the second actuation element with respect to one anothercan also be ascertained and, if necessary, corrected. In particular, acorrection value can be determined that is taken into account in thecontext of a movement of the first and/or second actuation element.

Alternatively, the first component of the device can be a firstactuation element, movable relative to a base module of the device withthe aid of a drive unit. The second component can then be a secondactuation element, movable relative to the base module of the devicewith the aid of a further drive unit relative to the base module and/orrelative to the first component of the device. Alternatively, the secondcomponent can be connected immovably to the base module. What isachieved thereby is that the first actuation element and the secondactuation element can be positioned in a target position with respect toone another. This can also occur independently of the positions of thecomponents with respect to the base module of the device.

Additionally or alternatively to the drive unit, the positioning unitcan have at least one aligning means at least for modifying the restposition of the first component in three dimensions and/or for modifyingthe rest position of the second component in three dimensions.Furthermore, additionally or alternatively, an aligning means can beprovided for modifying the rest position of the first component relativeto the second component. An aligning means of this kind can, inparticular, be actuated manually in order to bring the components into adesired target position with respect to one another, and thereby toensure smooth and correct functioning of the components duringsubsequent operation. An aligning means of this kind can be, forexample, an adjusting screw with which the positions of the componentsrelative to one another, or in three dimensions, can be modified.

It is additionally possible to ascertain, as an indication of the firstrotation, the angle between a reference axis of the first component anda second axis of the coordinate system. The angle between a referenceaxis of the second component and the second axis of the coordinatesystem can furthermore be ascertained as an indication of the secondrotation. By means of the angle with respect to the second axis of thecoordinate system, it is easy to determine the difference angle betweenthe first component and the second component with reference to thereference axis of the respective component, and to compare it with atarget difference angle. As a function of the deviation of theascertained difference angle from the target difference angle, acorrection value can be calculated or a positioning action of at leastone component can be authorized, which action causes the angulardifference between the reference axes of the components to correspond tothe target angular difference.

In some embodiments, the reference axis of the components can beprojected into a plane in which the second and a third axis of thecoordinate system extend, and which extends orthogonally to the firstaxis of the coordinate system. Alternatively, the reference axis canalready extend in the plane. This can be ascertained in the same fashionfor the second component. The angular deviations of the reference axesof the components with respect to the second axis of the coordinatesystem can thereby easily be determined. With the aid of the angle thusascertained, it is also easy to ascertain an angular difference betweenthe angles and to compare it with a target angular difference. Based onthe deviation of the ascertained angular difference from the targetangular difference, corresponding correction values for positioning atleast one of the components can be determined, by means of which valuesthe components are then arranged at the desired target angle withrespect to one another.

The sensor units can each include at least one microelectromechanicalsystem (MEMS). A microelectromechanical system of this kind may includea gyroscope and/or an acceleration sensor. Inclinometers, in particular,may be utilized. Using a gyroscope, it is easy to ascertain in simplefashion positional deviations with respect to two axes of athree-dimensional coordinate system, such as a world coordinate systemor a base coordinate system. It is possible in particular, with the aidof the gyroscope, to ascertain rotations about the axes of thecoordinate system that lie in a horizontal plane of the coordinatesystem. Deviations from a target position of the components, resultingfrom a rotation about said axes, can be detected and eliminated by wayof a suitable arrangement of the sensor units on the components.Alternatively, a correction value can be calculated which is then takeninto account in terms of the control and movement of at least onecomponent.

In an embodiment, the first sensor unit can sense a first rotation ofthe first component about the first axis of the coordinate system, and athird rotation of the first component about a second axis of thecoordinate system, and if the second sensor unit senses the secondrotation of the second component about the first axis of the coordinatesystem and a fourth rotation of the second component about the secondaxis of the coordinate system.

In an embodiment, the rotation of the components about the X axis andthe Y axis, which lie in one horizontal plane, is ascertained.

In addition, the first sensor unit can sense a fifth rotation of thefirst component about a third axis, for example the Z axis, of thecoordinate system. The second sensor unit can then additionally sense asixth rotation of the second component about a third axis of thecoordinate system. The respective position of the component in threedimensions can thereby be determined, so that positional deviations inthe positions of the components relative to one another can beascertained in simple fashion by corresponding difference calculationsand geometrical relationships.

For this purpose, each sensor unit can respectively include at least twosensor modules that then respectively sense the rotations of thecomponents about two axes of the coordinate system.

The first sensor unit may be a constituent of the first component or isconnected thereto. The second sensor unit may be a constituent of thesecond component or is connected thereto. The respective component ofthe device includes at least one subassembly of the device. As a result,the positions of subassemblies of the device with respect to one anothercan be ascertained in simple fashion and corrected if necessary. Forcorrection, it is possible to calculate a correction value that is thentaken into account when applying control to at least one drive unit forpositioning a subassembly of the device.

FIG. 1 schematically depicts an apparatus 10 for the manipulation of atleast one specimen slide 12 and of coverslips arranged in a stack 14.The upper coverslip of stack 14 is labeled with the reference character16. Stack 14 is arranged in a magazine 18. Magazine 18 is connected viaadjusting screws 20 to 24 to a base frame 26 of apparatus 10. Theposition of magazine 18, and thus of stack 14, relative to base frame 26can be modified via adjusting screws 20 to 24.

Base frame 26 has a receiving region 28 for receiving at least onespecimen slide 12. Specimen slide 12 may be removed automatically, withthe aid of a further apparatus, from a specimen slide magazine andarranged in specimen receiving region 28 of base frame 26 for furthermanipulation. Apparatus 10 further includes a pickup unit 30 that, inthe present exemplifying embodiment, includes two pickup elements 32,34. Pickup elements 32, 34 can each be moved in the direction of theirlongitudinal axis relative to pickup unit 30, pickup elements 32, 34being arranged in such a way that their longitudinal axes do not extendin parallel fashion and preferably enclose an acute angle between pickupelements 32, 34.

Pickup elements 32, 34 are arranged in mirror-symmetrical fashion withrespect to a center axis 36 of pickup unit 30. Pickup elements 32, 34each have, at their end facing toward stack 14, at least one suctionelement 38, 40 that, upon contact with upper coverslip 16 of stack 14,secures itself by suction by means of a negative pressure then appliedat suction element 38, 40. After at least one suction element 38, 40 issecured by suction on coverslip 16, the pickup element 32, 34 comprisingthat suction element 38, 40 is additionally moved, by the appliednegative pressure, along its respective longitudinal axis so thatsuction elements 38, 40 retract into pickup unit 30, i.e. are movedupward in FIG. 1, so that they then no longer, or only insignificantly,protrude out of the curved end face 42 of pickup unit 30. Coverslips 16removed from stack 14 are bent as a result of the arrangement of pickupelements 32, 34 and of the curved end face 42 of pickup unit 30.Arranged between pickup elements 32, 34 and a base frame of pickup unit30 is a bellows that, after the respective suction element 38, 40 issecured by suction on upper coverslip 16, is compressed by the negativepressure applied to the bellows. As a result of the compression of thebellows, the respective pickup unit 32, 34 is displaced in the directionof its longitudinal axis. Pickup unit 30 is connected via a linearstroke element 44 to an angle element 48 arranged displaceably on atransport arm 46. Pickup unit 30 is depicted in FIG. 1 in an initialposition.

In the illustrated exemplifying embodiment, base frame 26 has a sensorunit 50, magazine 18 has a sensor unit 52, pickup unit 30 has a sensorunit 54, linear stroke element 44 has a sensor unit 56, angle element 48has a sensor unit 58, and transport arm 46 has a sensor unit 60. Sensorunits 50 to 60, each constituting microelectromechanical systems forsensing the rotation of the respective component to which they areconnected, are each movable about two axes of a three-dimensionalcoordinate system that is independent of the position of the components,preferably about the axes of the coordinate system that lie in onehorizontal plane. Angular deviations between two subassembliesrespectively connected to a sensor 50 to 60 can thereby be ascertained.If this ascertained angular offset deviates from a target offset, aninformation item regarding that deviation can be outputted via asuitable display unit. Alternatively or additionally, it is possible tocalculate a correction value that can be taken into account in theapplication of control to a drive unit for positioning the respectivesubassembly. Said correction value can be used in particular as anoffset value in order to define a target position for positioning by thedrive unit.

As a function of the angular deviations ascertained with the aid ofsensor units 50, 52 between magazine 18 and base frame 26, adjustingscrews 20 to 24 can be used for position correction, i.e. for alignment,by modifying the relative position of magazine 18 with respect to baseframe 26 with the aid of said adjusting screws 20 to 24.

Magazine 18 is arranged at an inclination with respect to a horizontalplane, so that side wall 18 a of magazine 18 forms a lateral stop forstack 14, so that the position of upper coverslip 16 upon removalthereof with the aid of pickup unit 30 has a desired defined position.

Apparatus 10 according to FIG. 1 is depicted in FIG. 2 in an operatingposition. Elements having the same configuration or the same functionhave the same reference characters. Linear stroke element 44 has beenshifted downward over a distance A by a drive unit on angle element 48,so that suction elements 38, 40 of pickup elements 32, 34 have contactedupper coverslip 16, upper coverslip 16 adhering to suction elements 38,40 as a result of a negative pressure applied to pickup elements 32, 34.As a result of the displacement of pickup elements 32, 34 along theirlongitudinal axis, the picked-up coverslip 16 rests against end face 42of pickup unit 30, so that coverslip 16 is curved both because of thearrangement of pickup elements 32, 34 and because of the shape of endface 42.

Apparatus 10 according to FIGS. 1 and 2 is shown in FIG. 3 in a secondoperating position. As compared with the first working position shown inFIG. 2, linear stroke element 44 has been shifted back into the positionshown in FIG. 1. Angle element 48 has then been moved over a distance Dalong transport arm 46, so that pickup unit 30 having coverslip 16 isarranged above specimen slide 12. Once coverslip 16 has been broughtinto a correct position above specimen slide 12, linear stroke element44 is moved downward over a distance B, so that initial contact betweencoverslip 16 and the surface of specimen slide 12 to be covered is madein a region close to a side edge 17 of coverslip 16. With the aid of anapplication unit, a coverslipping agent, for example a transparentadhesive, has previously been applied onto a sample applied on the sideof specimen slide 12 facing away from base frame 26, which agent thenserves for secure retention of coverslip 16 on specimen slide 12 andsurrounds the sample present on specimen slide 12. Further lowering oflinear stroke element 44 causes end face 42 of pickup unit 30, togetherwith coverslip 16, to be in rolling contact on the surface of specimenslide 12, such that pickup unit 30 rotates about a rotation axis 64 inthe context of a movement of linear stroke element 44 from lineardistance B according to FIG. 3 to linear distance C according to FIG. 4.A suitable stop prevents pickup unit 30 from being pivoted away fromlinear stroke element 44 farther than the position depicted in FIGS. 1to 3. In the context of the movement of linear stroke element 44 fromdistance B to distance C, the negative pressure applied to pickupelement 34 is equalized, or alternatively a positive pressure isapplied, so that coverslip 16 detaches from suction element 40 and thespecimen slip remains behind on specimen slide 12.

FIG. 5 shows components 72, 74 of an apparatus 70 for manipulatingspecimen slides, in accordance with another embodiment of the invention.Component 74 of apparatus 70 is a base frame having a cassette receivingunit 76, connected to base frame 74, for cassettes having multiplespecimen slides inserted into receiving regions of the cassettes, whichslides are individually removed from the cassette with the aid ofapparatus 70 for further manipulation. Component 72 is an actuationelement having elements movable in the direction of double arrows P1 toP3. A grip element 78 of actuation apparatus 72 can be positioned forthe removal of specimen slides that are contained in one of thecassettes arranged in cassette receiving unit 76.

The specimen slides are arranged vertically on one side edge in thecassette, grip element 78 being positioned, for removal of the specimenslides, in such a way that it grips, with the aid of pressure elements80, 82, on the sides adjoining the side on which the specimen slidestands in the cassette, and pulls the respective specimen slide upwardout of the cassette. By means of a further displacement movement ofactuation unit 72, and a rotation of grip element through 90.degree.about rotation axis 84, the specimen slide is brought from a verticalposition into a horizontal position in which a coverslipping agent and acoverslip are then applied onto a sample arranged on the upper side ofthe specimen slide.

Provided for this purpose is a further actuation arm that contacts thespecimen slide, positioned horizontally with the aid of grip element 78,on the underside and supports it from below during further manipulationso that the specimen slide has a constant position especially when acoverslip is pressed onto the specimen slide. Thanks to correctpositioning of the actuation arms, neither the specimen slide nor thecoverslip is damaged or destroyed. The contact pressure support madeavailable via a further actuation element must be exactly positionedwith respect to grip element 78 and to the specimen slide clamped ingrip element 78. Provided for this purpose, according to the presentinvention, are at least two sensor elements that ascertain the rotationof individual components 72, 74 and of further constituents or parts ofcomponents 72, 74. This is accomplished, in particular, by the fact thatrotation about an axis of a coordinate system is ascertained. In thepresent exemplifying embodiment, a sensor unit 86 is arranged on baseframe 74 of apparatus 70, a sensor unit 88 is arranged on a support 94that is movable in the direction of arrow P1, a sensor unit 90 isarranged on a positioning unit 96 that is movable in the direction ofarrow P2, and a sensor unit 92 is arranged on the pivotable grip element78. As a result, the positions of elements of actuation unit 72 withrespect to one another and to base frame 74, or to the cassette havingspecimen slides that is arranged in cassette receiving unit 76 of baseframe 74, can be determined, and can be taken into account in thedisplacement movements of elements 74, 94, 96, 78 in order to arrangesaid elements 74, 94, 96, 78 exactly in three dimensions at a targetposition and/or to arrange the elements, as well as further elements, ina target position with respect to one another. Laborious alignmentactions for exact alignment of the components with respect to oneanother are thus no longer necessary, or the alignment actions can beassisted by way of the sensor signals outputted from sensor units 86 to92. In the present exemplifying embodiment, sensor unit 86 of base frame74 ascertains a rotation about the X axis and a rotation about the Yaxis of a coordinate system, the rotation being indicated with the aidof arrows P4 and P5. The further sensor units 88 to 92 also sense therotation of the respective components about the X axis and the Y axis,so that in simple fashion, the position and orientation of theindividual subassemblies with reference to their rotation about the Xaxis and the Y axis can be ascertained and compared with one another. Inthe event of deviations from a target position relative to anothercomponent or to the coordinate system, correction values can beascertained that can then be taken into account in the context ofpositioning with the aid of drive units or, alternatively, can be usedfor correct alignment of the subassemblies with respect to one anotherwith the aid of suitable alignment means.

FIG. 6 is an external view of a coverslipping machine 100 having anarrangement 70 according to FIG. 5. The coverslipping machine has ahollow needle 102 that applies a coverslipping agent from a supplycontainer 104 onto a specimen slide. Hollow needle 102 is arranged on aguide 106 and is movable along said guide 106 in the double-arrowdirection. Coverslipping machine 100 further encompasses a cleaningdevice 108 that has a container 110 having a cleaning liquid.Coverslipping machine 100 encompasses the components of apparatus 70that are depicted in FIG. 5, individual elements being concealed by thehousing of coverslipping machine 100. Grip element 78 having pressureelements 80, 82, as well as sensor unit 92 connected to grip element 78,are shown in a working region. Coverslipping machine 100 furtherencompasses a subassembly 112 for manipulating the coverslips and asubassembly 114 for supporting a specimen slide upon application of thecoverslip. These two subassemblies each encompass further sensor unitsarranged on relevant constituents, with each of which units it ispossible to ascertain the positions of the constituents with respect tofurther constituents of coverslipping machine 100 that require correctmutual orientation.

With use of the invention, passive orientation aids such as spiritlevels, automatic leveling devices, in particular motor-driven supportfeet for base plates of housing, and similar orientation means in orderto orient individual components in three dimensions are not necessary.The invention makes possible, in simple fashion, exact automaticorientation of movable assemblies with respect to one another,regardless of perpendiculars, in order to avoid misalignments. The setupeffort upon initial commissioning of apparatuses for manipulatingspecimen slides can thereby be considerably reduced. Thanks to thedevice, the base plate or base module of a device no longer needs to beoriented exactly in a horizontal plane, since movable assemblies musthave a defined angle relative to the base modules at least in a workingposition that is ascertained given a knowledge of the positionaldeviation of base frame 74 based on a knowledge of the rotation of baseframe 74 about at least one axis of the coordinate system, and is takeninto account in the positioning of the movable assemblies relative tobase frame 74. Laborious manual alignment of the individual componentsand assemblies is therefore not necessary. In addition, manufacturingtolerances can also be compensated for in this fashion. The positions ofindividual components are determined with the aid of the sensor unitsand, based on geometrical laws, correction values are calculated fororientation of the components in three dimensions or for correctpositioning of the components with respect to one another. With the aidof the position ascertained by means of sensor unit 86 of base frame 74it is possible, on the basis of a desired target position of a movableassembly relative to base frame 74, to identify as a target value avalue to be outputted by sensor unit 92 of a movable subassembly 78 inthe correct position, and to move subassembly 78, with the aid of adrive unit, until sensor 92 of subassembly 78 outputs that value.

All the sensor units of the exemplifying embodiments may include atleast one microelectromechanical system (MEMS). A microelectromechanicalsystem of this kind preferably encompasses a gyroscope and/or anacceleration sensor. Inclinometers, for example, may be utilized.

While the invention has been particularly shown and described withreference to preferred embodiments thereof, it will be understood bythose skilled in the art that various changes in form and details may bemade therein without departing from the spirit and scope of theinvention.

PARTS LIST

-   10, 70 Apparatus-   12 Specimen slide-   14 Stack-   16 Coverslip-   17 Side of coverslip-   18 Magazine-   18 a Side wall of magazine-   20 to 24 Adjusting screw-   26 Base frame-   28 Specimen slide receiving region-   30 Pickup unit-   32, 34 Pickup element-   36 Center axis-   38, 40 Suction elements-   42 End face-   44 Linear stroke element-   46 Transport arm-   48 Angle element-   50 to 60 Sensor element-   64 Rotation axis-   72, 74 Component-   76 Cassette receiving unit-   78 Grip element-   80, 82 Pressure element-   84 Rotation axis-   86 to 92 Sensor unit-   94 Displaceable support-   96 Displaceable positioning unit-   100 Coverslipping machine-   102 Hollow needle-   104 Supply container-   106 Guide-   108 Cleaning unit-   110 Container-   112, 114 Subassemblies-   P1 to P5 Motion direction arrows-   A to D Positioning distances

1. A device for manipulating at least one specimen slide, the devicecomprising: a first sensor unit operable to sense a first rotation of afirst component of the device about at least one first axis of athree-dimensional coordinate system; a second sensor unit operable tosense a second rotation of a second component of the device about the atleast one first axis of the coordinate system, the coordinate systembeing independent of a position of the first component and of a positionof the second component; and a positioning unit operable to position thesecond component relative to the first component; wherein the firstcomponent of the device is a first actuation element movable relative toa base module of the device by a drive unit, and wherein the secondcomponent is a second actuation element movable relative to at least oneof the base module and the first actuation element by a further driveunit.
 2. The device as recited in claim 1, wherein the positioning unitincludes at least one aligning device configured to modify at least oneof a rest position of the first component in three dimensions, a restposition of the second component in three dimensions, and a restposition of the first component relative to the second component.
 3. Adevice for manipulating at least one specimen slide, the devicecomprising: a first sensor unit operable to sense a first rotation of afirst component of the device about at least one first axis of athree-dimensional coordinate system; a second sensor unit operable tosense a second rotation of a second component of the device about the atleast one first axis of the coordinate system, the coordinate systembeing independent of a position of the first component and of a positionof the second component; and a positioning unit operable to position thesecond component relative to the first component; wherein the firstsensor unit is further operable to sense a third rotation of the firstcomponent about a second axis of the coordinate system, and wherein thesecond sensor unit is further operable to sense a fourth rotation of thesecond component about the second axis of the coordinate system.
 4. Thedevice as recited in claim 3, wherein the first sensor unit is furtheroperable to sense a fifth rotation of the first component about a thirdaxis of the coordinate system, and wherein the second sensor unit isfurther operable to sense a sixth rotation of the second component abouta third axis of the coordinate system.
 5. The device as recited in claim4, wherein the first sensor unit includes a first sensor moduleconfigured to determine the rotation of the first component about the atleast one first axis and the rotation of the first component about thesecond axis, and at least one second sensor module configured todetermine the rotation of the first component about the at least onefirst axis and the rotation of the first component about the third axis,and wherein the second sensor unit includes a third sensor moduleconfigured to determine the rotation of the second component about theat least one first axis and the rotation of the second component aboutthe second axis, and at least one fourth sensor module configured todetermine the rotation of the second component about the at least onefirst axis and the rotation of the second component about the thirdaxis.